This documentation describes the firmware used in the NXBOT Robot of the Universidad del Valle in Cali, Colombia.  The main objectives is to introduce the developer to all the functions used to control the low-\/level hardware of the robot; that means the actuators and sensors. NXBOT is a robot with differential drive, that means it has two motors and a ... rueda loca for its steering. It uses an IR sensor belt, composed by 6 IRs, located at -\/90°, -\/45°, -\/10°, 10°, 45°, 90° of the robot. Some versions include ultrasound sensors, and the configuration of them depends mainly on the user. There is also a bumper belt, composed by 4 bumpers, located at 45°, -\/45°,135°, -\/135°. Other sensors include the battery state and a buzzer. The following list describes the hardware used in NXBot. 
\begin{DoxyItemize}
\item Sensors 
\begin{DoxyEnumerate}
\item IR 
\item Sonar 
\item Bumper 
\item Encoders 
\item Battery 
\end{DoxyEnumerate}
\item Actuators 
\begin{DoxyEnumerate}
\item Motors 
\item Buzzer 
\end{DoxyEnumerate}
\end{DoxyItemize}

Poner quue la estructura esta dividida en capas, donde la primera capa actua como HAL y es llamada \hyperlink{group__nxbot__low__level}{LOW Layer}, la segunda genera estructuras más genéricas, y la tercera \begin{DoxyAuthor}{Author}
Alejandro Pustowka, Jonathan Hernandez 
\end{DoxyAuthor}
\begin{DoxyDate}{Date}
March-\/2010 
\end{DoxyDate}
